diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py index ed86846dedfacd1e44532e3985677de701a2c540..2a991fe7d5434ca46d9eb846bbb068c67407eeb1 100755 --- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py +++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py @@ -248,7 +248,7 @@ class AbstractHumanoidRobot (object): featureCom.selec.value = selec featureComDes = FeatureGeneric(featureDesName) featureComDes.errorIN.value = self.dynamic.com.value - featureCom.sdes.value = featureComDes + featureCom.setReference(featureComDes.name) comTask = TaskPD(taskName) comTask.add(featureName) comTask.controlGain.value = gain